#pragma once
// MESSAGE VISION_SPEED_ESTIMATE PACKING

#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 103

MAVPACKED(
        typedef struct __mavlink_vision_speed_estimate_t {
            uint64_t usec; /*< [us] Timestamp (UNIX time or time since system boot)*/
            float x; /*< [m/s] Global X speed*/
            float y; /*< [m/s] Global Y speed*/
            float z; /*< [m/s] Global Z speed*/
            float covariance[9]; /*<  Linear velocity covariance matrix (1st three entries - 1st row, etc.)*/
        }) mavlink_vision_speed_estimate_t;

#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 56
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN 20
#define MAVLINK_MSG_ID_103_LEN 56
#define MAVLINK_MSG_ID_103_MIN_LEN 20

#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC 208
#define MAVLINK_MSG_ID_103_CRC 208

#define MAVLINK_MSG_VISION_SPEED_ESTIMATE_FIELD_COVARIANCE_LEN 9

#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
    103, \
    "VISION_SPEED_ESTIMATE", \
    5, \
    {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
         { "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 20, offsetof(mavlink_vision_speed_estimate_t, covariance) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
    "VISION_SPEED_ESTIMATE", \
    5, \
    {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
         { "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 20, offsetof(mavlink_vision_speed_estimate_t, covariance) }, \
         } \
}
#endif

/**
 * @brief Pack a vision_speed_estimate message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
 * @param usec [us] Timestamp (UNIX time or time since system boot)
 * @param x [m/s] Global X speed
 * @param y [m/s] Global Y speed
 * @param z [m/s] Global Z speed
 * @param covariance  Linear velocity covariance matrix (1st three entries - 1st row, etc.)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t
mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id,
                                       mavlink_message_t *msg,
                                       uint64_t usec, float x, float y, float z,
                                       const float *covariance) {
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
    _mav_put_uint64_t(buf, 0, usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float_array(buf, 20, covariance, 9);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#else
    mavlink_vision_speed_estimate_t packet;
    packet.usec = usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float) * 9);
    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
    return mavlink_finalize_message(msg, system_id, component_id,
                                    MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN,
                                    MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN,
                                    MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
}

/**
 * @brief Pack a vision_speed_estimate message on a channel
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param usec [us] Timestamp (UNIX time or time since system boot)
 * @param x [m/s] Global X speed
 * @param y [m/s] Global Y speed
 * @param z [m/s] Global Z speed
 * @param covariance  Linear velocity covariance matrix (1st three entries - 1st row, etc.)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t
mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                            mavlink_message_t *msg,
                                            uint64_t usec, float x, float y, float z,
                                            const float *covariance) {
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
    _mav_put_uint64_t(buf, 0, usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float_array(buf, 20, covariance, 9);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#else
    mavlink_vision_speed_estimate_t packet;
    packet.usec = usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float) * 9);
    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan,
                                         MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN,
                                         MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN,
                                         MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
}

/**
 * @brief Encode a vision_speed_estimate struct
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 * @param vision_speed_estimate C-struct to read the message contents from
 */
static inline uint16_t
mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id,
                                         mavlink_message_t *msg,
                                         const mavlink_vision_speed_estimate_t *vision_speed_estimate) {
    return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg,
                                                  vision_speed_estimate->usec,
                                                  vision_speed_estimate->x,
                                                  vision_speed_estimate->y,
                                                  vision_speed_estimate->z,
                                                  vision_speed_estimate->covariance);
}

/**
 * @brief Encode a vision_speed_estimate struct on a channel
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param vision_speed_estimate C-struct to read the message contents from
 */
static inline uint16_t
mavlink_msg_vision_speed_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                              mavlink_message_t *msg,
                                              const mavlink_vision_speed_estimate_t *vision_speed_estimate) {
    return mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, chan, msg,
                                                       vision_speed_estimate->usec,
                                                       vision_speed_estimate->x,
                                                       vision_speed_estimate->y,
                                                       vision_speed_estimate->z,
                                                       vision_speed_estimate->covariance);
}

/**
 * @brief Send a vision_speed_estimate message
 * @param chan MAVLink channel to send the message
 *
 * @param usec [us] Timestamp (UNIX time or time since system boot)
 * @param x [m/s] Global X speed
 * @param y [m/s] Global Y speed
 * @param z [m/s] Global Z speed
 * @param covariance  Linear velocity covariance matrix (1st three entries - 1st row, etc.)
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
    _mav_put_uint64_t(buf, 0, usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float_array(buf, 20, covariance, 9);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
#else
    mavlink_vision_speed_estimate_t packet;
    packet.usec = usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
#endif
}

/**
 * @brief Send a vision_speed_estimate message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_vision_speed_estimate_send_struct(mavlink_channel_t chan, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_vision_speed_estimate_send(chan, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z, vision_speed_estimate->covariance);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)vision_speed_estimate, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
#endif
}

#if MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This varient of _send() can be used to save stack space by re-using
  memory from the receive buffer.  The caller provides a
  mavlink_message_t which is the size of a full mavlink message. This
  is usually the receive buffer for the channel, and allows a reply to an
  incoming message with minimum stack space usage.
 */
static inline void mavlink_msg_vision_speed_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t usec, float x, float y, float z, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_uint64_t(buf, 0, usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float_array(buf, 20, covariance, 9);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
#else
    mavlink_vision_speed_estimate_t *packet = (mavlink_vision_speed_estimate_t *)msgbuf;
    packet->usec = usec;
    packet->x = x;
    packet->y = y;
    packet->z = z;
    mav_array_memcpy(packet->covariance, covariance, sizeof(float)*9);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
#endif
}
#endif

#endif

// MESSAGE VISION_SPEED_ESTIMATE UNPACKING


/**
 * @brief Get field usec from vision_speed_estimate message
 *
 * @return [us] Timestamp (UNIX time or time since system boot)
 */
static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t *msg) {
    return _MAV_RETURN_uint64_t(msg, 0);
}

/**
 * @brief Get field x from vision_speed_estimate message
 *
 * @return [m/s] Global X speed
 */
static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 8);
}

/**
 * @brief Get field y from vision_speed_estimate message
 *
 * @return [m/s] Global Y speed
 */
static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 12);
}

/**
 * @brief Get field z from vision_speed_estimate message
 *
 * @return [m/s] Global Z speed
 */
static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 16);
}

/**
 * @brief Get field covariance from vision_speed_estimate message
 *
 * @return  Linear velocity covariance matrix (1st three entries - 1st row, etc.)
 */
static inline uint16_t
mavlink_msg_vision_speed_estimate_get_covariance(const mavlink_message_t *msg, float *covariance) {
    return _MAV_RETURN_float_array(msg, covariance, 9, 20);
}

/**
 * @brief Decode a vision_speed_estimate message into a struct
 *
 * @param msg The message to decode
 * @param vision_speed_estimate C-struct to decode the message contents into
 */
static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t *msg,
                                                            mavlink_vision_speed_estimate_t *vision_speed_estimate) {
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg);
    vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
    vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
    vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
    mavlink_msg_vision_speed_estimate_get_covariance(msg, vision_speed_estimate->covariance);
#else
    uint8_t len = msg->len < MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN ? msg->len
                                                                      : MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN;
    memset(vision_speed_estimate, 0, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
    memcpy(vision_speed_estimate, _MAV_PAYLOAD(msg), len);
#endif
}
